If the panel cover was hot enough to burn your hand, that would indicate a real problem. It must be fairly new to have arc fault circuit breakers installed, a type breaker which trips when an electrical arc is detected in any circuit connected to the breaker.
If you're really worried call your electric company to find out if a tech for them would come out and check the temp of the panel at no cost to you. The power company here is really good about that sort of thing and the fire department (don't dial 911) may have a fire marshal willing to drop by and assuage your fears after checking the temp of the panel. The ones I know would rather find out that a citizen has a problem that needs fixing rather than meeting him outside his burning house. If it really has you worried, there are electrical installation and repair companies that will send someone by to check it for you at no cost as a way to get you as a customer. The honest service companies are out there, ask around to find someone who will check it for you. Your peace of mind will let you sleep at night. Be safe. ^_^
TDD